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Debt - Summary of Long-term Notes Payable (Details) - USD ($) $ in Thousands | Jun. 30, 2024 | Dec. 31, 2023
--- | --- | ---
Debt Instrument [Line Items] |  |
Unamortized debt discount and debt issuance costs | $ (4,209) | $ (4,802)
Notes payable, total | 35,844 | 35,276
Less: current maturities | 37 | 51
Long-term notes payable | 35,807 | 35,225
Perceptive Term Loan Facility |  |
Debt Instrument [Line Items] |  |
Notes/Loan payable | 40,000 | 40,000
Other |  |
Debt Instrument [Line Items] |  |
Notes/Loan payable | $ 53 | $ 78

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